System and method for generating partitioned swaths

ABSTRACT

A control system of an agricultural work vehicle system includes a controller that includes a memory and a processor. The controller is configured to determine multiple partitions based, at least in part, on a map of an agricultural field. Further, the controller is configured to determine a partition list of the multiple partitions based, at least in part, on a set of bounding characteristics of each of the multiple partitions. In addition, the controller is configured to determine an order of the multiple partitions based on the partition list of the multiple partitions. Moreover, the controller is configured to output a signal indicative of a travel path for the agricultural work vehicle.

BACKGROUND

The present disclosure relates generally to a system and method forgenerating partitioned swaths.

Work vehicles (e.g., tractors, tow-vehicles, implements, air-carts,etc.) may travel along a variety of paths through an agricultural fieldin the process of completing an operation (e.g., harvesting, tilling,planting, etc.). For example, work vehicles may cover a significantportion of the agricultural field during an operation. In the process ofcovering the agricultural field, different types of paths may beutilized to ensure full coverage of the agricultural field. For example,the different types of paths may include paths along a boundary of theagricultural field, in rows through the center of the agriculturalfield, around the edges of obstacles in the agricultural field, or anyother path through the agricultural field. Organizing and planningroutes of paths may be improved to decrease the time to complete anoperation, to increase the effectiveness of an operation, or to increasethe coverage of the agricultural field.

BRIEF DESCRIPTION

In one embodiment, a control system of an agricultural work vehiclesystem includes a controller that includes a memory and a processor. Thecontroller is configured to determine multiple partitions based, atleast in part, on a map of an agricultural field. Further, thecontroller is configured to determine a partition list of the multiplepartitions based, at least in part, on a set of bounding characteristicsof each of the multiple partitions. In addition, the controller isconfigured to determine an order of the multiple partitions based on thepartition list of the multiple partitions. Moreover, the controller isconfigured to output a signal indicative of a travel path for theagricultural work vehicle.

In another embodiment, a method for creating a travel path through anagricultural field for a work vehicle includes determining, via acontroller, multiple partitions based, at least in part, on a map of anagricultural field. The method further includes determining, via thecontroller, a partition list of the multiple partitions based, at leastin part, on a set of bounding characteristics of each of the multiplepartitions. In addition, the method includes determining, via thecontroller, an order of the multiple partitions based on the partitionlist of the multiple partitions. Moreover, the method includesoutputting, via the controller, a signal indicative of a travel path forthe agricultural work vehicle.

In a further embodiment, one or more tangible, non-transitory,machine-readable media comprising instructions configured to cause aprocessor to determine multiple partitions based, at least in part, on amap of an agricultural field. Further, the instructions are configuredto cause the processor to determine a partition list of the multiplepartitions based, at least in part, on a set of bounding characteristicsof each of the multiple partitions. In addition, the instructions areconfigured to cause the processor to determine an order of the multiplepartitions based on the partition list of the multiple partitions.Moreover, the instructions are configured to cause the processor tooutput a signal indicative of a travel path for the agricultural workvehicle.

DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a schematic diagram of an embodiment of a work vehicle and anagricultural implement within a field;

FIG. 2 is a schematic diagram of an embodiment of a control system thatmay be utilized to control the work vehicle and the agriculturalimplement of FIG. 1;

FIG. 3 is a top view of an embodiment of a field that includes swathpaths indicative of a travel path of a work vehicle;

FIG. 4 is a flowchart of an embodiment of a process for generatingpartitions of a field and ordering the partitions;

FIG. 5A is a top view of an embodiment of a field having multiplepartitions; and

FIG. 5B is a schematic diagram of an embodiment of a partition list ofthe partitions illustrated in FIG. 5A.

DETAILED DESCRIPTION

One or more specific embodiments of the present disclosure will bedescribed below. In an effort to provide a concise description of theseembodiments, all features of an actual implementation may not bedescribed in the specification. It should be appreciated that in thedevelopment of any such actual implementation, as in any engineering ordesign project, numerous implementation-specific decisions must be madeto achieve the developers' specific goals, such as compliance withsystem-related and business-related constraints, which may vary from oneimplementation to another. Moreover, it should be appreciated that sucha development effort might be complex and time consuming, but wouldnevertheless be a routine undertaking of design, fabrication, andmanufacture for those of ordinary skill having the benefit of thisdisclosure.

When introducing elements of various embodiments of the presentdisclosure, the articles “a,” “an,” “the,” and “said” are intended tomean that there are one or more of the elements. The terms “comprising,”“including,” and “having” are intended to be inclusive and mean thatthere may be additional elements other than the listed elements. Anyexamples of operating parameters and/or environmental conditions are notexclusive of other parameters/conditions of the disclosed embodiments.

FIG. 1 is a schematic diagram of an embodiment of a work vehicle 10 andan agricultural implement 12 within an agricultural field 14. The workvehicle 10 (e.g., tractor, harvester, or other prime mover) isconfigured to tow the agricultural implement 12 throughout the field 14along a direction of travel 16. In certain embodiments, the work vehicle10 is directed (e.g., via an operator or an automated system) totraverse the field along substantially parallel rows 18. However, itshould be appreciated that the work vehicle may be directed to traversethe field along other paths in alternative embodiments. For example, thework vehicle may travel along an edge of the field, thereby followingthe shape of a boundary of the field, or the work vehicle may travelaround an obstacle disposed in the field.

The agricultural implement 12 may be any suitable implement forperforming agricultural operations throughout the field 14. For example,in certain embodiments, the agricultural implement 12 may be a tillagetool, a fertilizer application tool, a seeding or planting tool, acutting tool, or a harvesting tool, among others. In the presentembodiment, the agricultural implement 12 is towed and/or pushed by thework vehicle 10. In other embodiments, the agricultural implement may beintegrated within the work vehicle. Further, in some embodiments, theagricultural implement may include an air cart that is towed behind theagricultural implement or integrated within the implement or workvehicle.

Furthermore, the shape of the field 14 may include shapes other than asingle quadrilateral, the field 14 may include obstacles (e.g., naturalfeatures such as rocks or trees, or manmade features such as buildingsor roads), or the field 14 may have a width that is not an integermultiple of a swath width (e.g., width of the implement 12). Forexample, the shape of the field may include 3, 4, 5, 6, 7, 8, or moresides. In such embodiments, the field 14 may be partitioned and thepartitions ordered to enable the work vehicle 10 to travel through thefield 14 along an efficient path.

FIG. 2 is a schematic diagram of an embodiment of a control system 24that may be utilized to control the work vehicle 10 and the agriculturalimplement of FIG. 1. In the illustrated embodiment, the control system24 includes a vehicle control system 26 (e.g., mounted on the workvehicle 10), and the vehicle control system 26 includes a firsttransceiver 28 configured to establish a wireless communication linkwith a second transceiver 30 of a base station 32. The first and secondtransceivers may operate at any suitable frequency range within theelectromagnetic spectrum. For example, in certain embodiments, thetransceivers may broadcast and receive radio waves within a frequencyrange of about 1 GHz to about 10 GHz. In addition, the first and secondtransceivers may utilize any suitable communication protocol, such as astandard protocol (e.g., Wi-Fi, Bluetooth, etc.) or a proprietaryprotocol. In other embodiments, the base station 32 may be omitted, andcomponents of the base station 32 may also be omitted or distributedamong the implement, the air cart, or the work vehicle.

In the illustrated embodiment, the vehicle control system 26 includes aspatial locating device 34, which is mounted to the work vehicle 10 andconfigured to determine a position of the work vehicle 10. As will beappreciated, the spatial locating device may include any suitable systemconfigured to determine the position of the work vehicle, such as aglobal positioning system (GPS) receiver, for example. In certainembodiments, the spatial locating device 34 may be configured todetermine the position of the work vehicle relative to a fixed pointwithin the field (e.g., via a fixed radio transceiver). Accordingly, thespatial locating device 34 may be configured to determine the positionof the work vehicle relative to a fixed global coordinate system (e.g.,via the GPS) or a fixed local coordinate system. In certain embodiments,the first transceiver 28 is configured to broadcast a signal indicativeof the position of the work vehicle 10 to the second transceiver 30 ofthe base station 32. Using the position of the work vehicle 10 duringtraversal of the field 14, a map may be generated of the field 14. Forexample, as the work vehicle 10 or another lighter scouting vehicletravels around a portion of the field 14, the control system 24 and/orthe vehicle control system 26 may generate a map of the field 14. Insome embodiments, the work vehicle 10 or scouting vehicle may bedirected to travel around a perimeter of the field 14 to determine theouter bounds of the field 14 and then to determine a traversal route.Additionally or alternatively, a map may be updated during operation ofthe work vehicle 10 and locations of objects that interfere withoperation, such as roads, structures, fixtures (e.g., irrigationsystems), or other objects that may be fixed within the field 14 may bestored.

In addition, the vehicle control system 26 includes a sensor assembly36. In certain embodiments, the sensor assembly is configured tofacilitate determination of conditions of the work vehicle 10 and/or thefield 14. For example, the sensor assembly 36 may include multiplesensors (e.g., infrared sensors, ultrasonic sensors, magnetic sensors,etc.) configured to monitor a rotation rate of a respective wheel ortrack and/or a ground speed of the work vehicle. The sensors may alsomonitor operating levels (e.g., temperature, fuel level, etc.) of thework vehicle 10. Furthermore, the sensors may monitor conditions in andaround the field, such as temperature, weather, wind speed, humidity,objects in the field, and other such conditions.

In the illustrated embodiment, the off-road vehicle 10 includes amovement control system that includes a steering control system 42configured to control a direction of movement of the off-road vehicle 10and a speed control system 44 configured to control a speed of theoff-road vehicle 10. In addition, the off-road vehicle 10 includes animplement control system 64 configured to control operation of animplement (e.g., towed by the off-road vehicle 10). The vehicle controlsystem 26 includes a vehicle controller 46 communicatively coupled tothe first transceiver 28, the spatial locating device 34, the sensorassembly 36, and an operator interface 38. In certain embodiments, thevehicle controller 46 is configured to receive a location of the workvehicle 10 and to instruct the vehicle to move based at least in part onthe location of the work vehicle 10 and a route of traversal through thefield 14. In certain embodiments, the vehicle controller 46 is anelectronic controller having electrical circuitry configured to processdata from the first transceiver 28, the spatial locating device 34, thesensor assembly 36, or a combination thereof, among other components ofthe work vehicle 10. In the illustrated embodiment, the vehiclecontroller 46 includes a processor, such as the illustratedmicroprocessor 48, and a memory device 50. The vehicle controller 46 mayalso include one or more storage devices and/or other suitablecomponents. The processor 48 may be used to execute software, such assoftware for controlling the work vehicle 10, and so forth. Moreover,the processor 48 may include multiple microprocessors, one or more“general-purpose” microprocessors, one or more special-purposemicroprocessors, and/or one or more application specific integratedcircuits (ASICS), or some combination thereof. For example, theprocessor 48 may include one or more reduced instruction set (RISC)processors.

The memory device 50 may include a volatile memory, such as randomaccess memory (RAM), and/or a nonvolatile memory, such as read-onlymemory (ROM). The memory device 50 may store a variety of informationand may be used for various purposes. For example, the memory device 50may store processor-executable instructions (e.g., firmware or software)for the processor 48 to execute, such as instructions for controllingthe work vehicle 10. The storage device(s) (e.g., nonvolatile storage)may include ROM, flash memory, a hard drive, or any other suitableoptical, magnetic, or solid-state storage medium, or a combinationthereof. The storage device(s) may store data (e.g., field maps),instructions (e.g., software or firmware for controlling the workvehicle, etc.), and any other suitable data.

In the illustrated embodiment, the steering control system 42 includes awheel angle control system 52, a differential braking system 54, and atorque vectoring system 56. The wheel angle control system 52 mayautomatically rotate one or more wheels or tracks of the off-roadvehicle (e.g., via hydraulic actuators) to steer the off-road vehiclealong a path through the field (e.g., around mapped objects in a field).By way of example, the wheel angle control system 52 may rotate frontwheels/tracks, rear wheels/tracks, and/or intermediate wheels/tracks ofthe off-road vehicle, either individually or in groups. The differentialbraking system 54 may independently vary the braking force on eachlateral side of the off-road vehicle to direct the off-road vehiclealong the path through the field. Similarly, the torque vectoring system56 may differentially apply torque from the engine to wheels and/ortracks on each lateral side of the off-road vehicle, thereby directingthe off-road vehicle along the path through the field. While theillustrated steering control system 42 includes the wheel angle controlsystem 52, the differential braking system 54, and the torque vectoringsystem 56, it should be appreciated that alternative embodiments mayinclude one or more of these systems, in any suitable combination.Further embodiments may include a steering control system 42 havingother and/or additional systems to facilitate directing the off-roadvehicle along the path through the field (e.g., an articulated steeringsystem, etc.).

In the illustrated embodiment, the speed control system 44 includes anengine output control system 58, a transmission control system 60, and abraking control system 62. The engine output control system 58 isconfigured to vary the output of the engine to control the speed of theoff-road vehicle 10. For example, the engine output control system 58may vary a throttle setting of the engine, a fuel/air mixture of theengine, a timing of the engine, and/or other suitable engine parametersto control engine output or a combination thereof. In addition, thetransmission control system 60 may adjust an input-output ratio within atransmission to control the speed of the off-road vehicle. Furthermore,the braking control system 62 may adjust braking force, therebycontrolling the speed of the off-road vehicle 10. While the illustratedspeed control system 44 includes the engine output control system 58,the transmission control system 60, and the braking control system 62,it should be appreciated that alternative embodiments may include one ortwo of these systems, in any suitable combination. Further embodimentsmay include a speed control system 44 having other and/or additionalsystems to facilitate adjusting the speed of the off-road vehicle.

The implement control system 64 is configured to control variousparameters of the agricultural implement towed by the off-road vehicle.For example, in certain embodiments, the implement control system 64 maybe configured to instruct an implement controller (e.g., via acommunication link, such as a CAN bus or ISOBUS) to adjust a penetrationdepth of at least one ground-engaging tool of the agriculturalimplement. By way of example, the implement control system 64 mayinstruct the implement controller to reduce the penetration depth ofeach tillage point on a tilling implement, or the implement controlsystem 64 may instruct the implement controller to disengage each openerdisc/blade of a seeding/planting implement from the soil. Reducing thepenetration depth of at least one ground-engaging tool of theagricultural implement may reduce the draft load on the off-roadvehicle. Furthermore, the implement control system 64 may instruct theimplement controller to transition the agricultural implement between aworking position and a transport portion, to adjust a flow rate ofproduct from the agricultural implement, or to adjust a position of aheader of the agricultural implement (e.g., a harvester, etc.), amongother operations.

In certain embodiments, the vehicle controller 46 may utilize a map ofthe field to determine a travel path for the work vehicle 10. Forexample, the travel path may include a swath (i.e., a continuouscurvature path including straight line segments (e.g., rows), arcs,clothoids, splines, or any combination thereof). For example, the workvehicle 10 may travel through the field along rows, as illustrated inFIG. 1. In some embodiments, the characteristics of the field may notenable the work vehicle 10 to travel in uniform, parallel rows, asillustrated in FIG. 1. For example, the field may include obstacles thatthe work vehicle 10 travels around, the field may be shaped such thatthe work vehicle 10 travels along rows in different directions, etc.Further, during some operations (e.g., seeding, harvesting, tilling,etc.) the work vehicle 10 may travel in a lap along the edge (e.g., aheadland or boundary) of the field before travelling along rows acrossthe field.

Thus, the field may be split into partitions which enables thepartitions of the field to be ordered for the travel path of the workvehicle 10. For example, each partition may include a different type oftravel path, such as a path around the edge of the field, a path aroundan obstacle, a path that includes a group of substantially parallelrows, etc. After the field has been split into partitions, the vehiclecontroller 46 may order the partitions such that the work vehicle 10travels through the partitions sequentially. Further, as discussedabove, at least one partition may include a group of substantiallyparallel rows. Thus, the vehicle controller 46 may analyze suchpartitions to determine an order for the rows such that the work vehicle10 travels along the rows in the determined order.

In the illustrated embodiment, the work vehicle 10 includes an operatorinterface 38 communicatively coupled to the vehicle controller 46. Theoperator interface 38 is configured to present data from one or morework vehicles and/or the agricultural implement(s) to an operator (e.g.,data associated with the travel path of the work vehicle, dataassociated with operation of the work vehicle, data associated withoperation of the agricultural implement, etc.). The operator interface38 may also enable the user to input information about the field and/orthe crops that may enable the controller to determine the route throughthe field. For example, the operator may indicate width of each row, astart position, known obstacles, type of operation being conducted, orany other information which may affect a travel path. The operatorinterface 38 is also configured to enable an operator to control certainfunctions of the work vehicle (e.g., starting and stopping the workvehicle, instructing the work vehicle to follow a route through thefield, etc.). In the illustrated embodiment, the operator interface 38includes a display 40 configured to present information to the operator,such as the position of the work vehicle 10 within the field, the speedof the work vehicle 10, and the path of the work vehicle 10, among otherdata. The display 40 may facilitate touch inputs, and/or the operatorinterface 38 may include other input device(s), such as a keyboard,mouse, or other human-to-machine input devices. In addition, theoperator interface 38 (e.g., via the display 40, via an audio system,etc.) is configured to notify the operator of the determined travel pathfor to traversing the field.

As previously discussed, the control system 26 is configured tocommunicate with the base station 32 via the first transceiver 28 andthe second transceiver 30. In the illustrated embodiment, the basestation 32 includes a base station controller 68 communicatively coupledto the second transceiver 30. The base station controller 68 isconfigured to output commands and/or data to the work vehicle 10. Forexample the base station controller 68 may be configured to determine amap of the field (i.e., determining a shape of the field, objects thatmay impede a path of the work vehicle, compaction alleys disposed in thefield, areas of the field that an operation may be conducted, etc.)and/or the travel path of the work vehicle through the field. The basestation controller 68 may then send instructions indicative of the mapof the field and/or the travel path of the work vehicle to the vehiclecontroller 46, thereby enabling the vehicle controller 46 to direct thework vehicle 10 though the field. In addition, the base stationcontroller 68 may output start and stop commands to the vehiclecontroller 46, and/or the base station controller 68 may instruct thework vehicle 10 to follow a selected/planned path through the field 14based on the map and the location of the vehicle 10, which may bedetermined at the vehicle controller 46 and/or the base stationcontroller 68.

In certain embodiments, the base station controller 68 is an electroniccontroller having electrical circuitry configured to process data fromcertain components of the base station 32 (e.g., the second transceiver30). In the illustrated embodiment, the base station controller 68includes a processor, such as the illustrated microprocessor 70, and amemory device 72. The processor 68 may be used to execute software, suchas software for providing commands and/or data to the vehicle controller46, and so forth. Moreover, the processor 70 may include multiplemicroprocessors, one or more “general-purpose” microprocessors, one ormore special-purpose microprocessors, and/or one or more applicationspecific integrated circuits (ASICS), or some combination thereof. Forexample, the processor 70 may include one or more reduced instructionset (RISC) processors. The memory device 72 may include a volatilememory, such as RAM, and/or a nonvolatile memory, such as ROM. Thememory device 72 may store a variety of information and may be used forvarious purposes. For example, the memory device 72 may storeprocessor-executable instructions (e.g., firmware or software) for theprocessor 70 to execute, such as instructions for providing commandsand/or data to the vehicle controller 46.

In the illustrated embodiment, the base station 32 includes a userinterface 74 communicatively coupled to the base station controller 68.The user interface 74 is configured to present data from one or morework vehicles and/or the agricultural implement(s) to an operator (e.g.,data associated with the travel path of the work vehicle(s), dataassociated with operation of the work vehicle(s), data associated withoperation of the agricultural implement(s), etc.). The user interface 74may also enable the user to input information about the field and/or thecrops that may enable the base station controller 68 and/or the vehiclecontroller 46 to alter the route through the field. For example, theoperator may indicate a width of each row, a starting position of one ormore work vehicles, position(s) of obstacle(s), type of operation beingconducted, or any other information which may affect a travel path. Theuser interface 74 is also configured to enable an operator to controlcertain functions of the work vehicle(s) (e.g., starting and stoppingthe work vehicle(s), instructing the work vehicle to follow route(s)through the field, etc.). In the illustrated embodiment, the userinterface 74 includes a display 76 configured to present information tothe operator, such as the position of the work vehicle(s) within thefield, the speed of the work vehicle(s), and the path(s) of the workvehicle(s), among other data. The display 76 may be configured toreceive touch inputs, and/or the user interface 74 may include otherinput device(s), such as a keyboard, mouse, or other human-to-machineinput device(s). In addition, the user interface 74 (e.g., via thedisplay 76, via an audio system, etc.) is configured to notify theoperator of the determined travel path for traversing the field.

In the illustrated embodiment, the base station 32 includes a storagedevice 78 communicatively coupled to the base station controller 68. Thestorage device 78 (e.g., nonvolatile storage) may include ROM, flashmemory, a hard drive, or any other suitable optical, magnetic, orsolid-state storage medium, or a combination thereof. The storagedevice(s) may store data (e.g., field maps), instructions (e.g.,software or firmware for commanding the work vehicle(s), etc.), and anyother suitable data.

While the vehicle control system 26 of the control system 24 includesthe vehicle controller 46 in the illustrated embodiment, it should beappreciated that in alternative embodiments, the vehicle control system26 may include the base station controller 68. For example, in certainembodiments, control functions of the vehicle control system 26 may bedistributed between the vehicle controller 46 and the base stationcontroller 68. In further embodiments, the base station controller 68may perform a substantial portion of the control functions of thevehicle control system 26. Indeed, any processes of the vehiclecontroller 46 and the base station controller 68 may be allocated toeither controller in at least some embodiments. Furthermore, at leastpart of the processes described herein may be performed via acloud-based service or other remote computing, and such computing isconsidered part of the vehicle control system 26.

FIG. 3 is a top view of an embodiment of the field 14 that includesswath paths indicative of the travel path of a work vehicle. In theillustrated embodiment, the field 14 includes a number of obstacles. Forexample, the field 14 includes a first obstacle 100, a second obstacle102, a third obstacle 104, and a fourth obstacle 106. In someembodiments, one or more of the obstacles may not impede the progress ofcertain work vehicles, or the field 14 may include more obstacles thatimpede the progress of certain work vehicles. Further, the location ofthe obstacle may alter the treatment of the obstacle. For example, thefirst obstacle 100 intersects a boundary 108 of the field 14. Thus, thefirst obstacle 100 is treated as part of the boundary 108 fordetermining partitions of the field 14. The second obstacle 102, thethird obstacle 104, and the fourth obstacle 106 are internal to theboundary 108, and are not treated as parts of the boundary 108. Rather,each of the second obstacle 102, the third obstacle 104, and the fourthobstacle 106 form a respective area through which the work vehiclecannot pass.

Accordingly, swath paths 110 (e.g., lines along which the work vehicletravels) do not intersect the boundary 108 or any of the obstacles. Theswath paths 110 represent the path along which the work vehicle travelsthrough the field. Although, in operation, the work vehicle may travelalong curves to completely traverse the field 14, the swath paths 110are illustrated as straight lines for demonstrative purposes. Forexample, points 111 illustrate instantaneous changes in direction, thework vehicle may travel along a curve to change direction from one swathpath to the next. Further, in the illustrated embodiment, each endpoint112 of the swath paths 110 is denoted by a dot. The endpoints 112 denotewhere the work vehicle changes directions to continue the operation. Forexample, an interior endpoint 122 illustrates where the field 14 becomestoo narrow for the swath path 110 to continue.

In the illustrated embodiment, the field 14 includes six differentpartitions (i.e., each partition is a separate portion of the field 14).A first partition 114 and a second partition 116 each include a singleswatch line 110 in a lap (e.g., a cleanup lap or a headland lap) aroundthe edge of the field 14 that follows the shape of the boundary 108,while respecting the constraints and capabilities of the work vehicleand/or implement. A third partition 118 includes all of the swath paths110 included in a section 120, and the third partition 118 covers theinterior portion of the field 14 that is surrounded by the secondpartition 116 and excludes the area blocked by the obstacles. The otherthree partitions are laps around each of the second obstacle 102, thethird obstacle 104, and the fourth obstacle 106.

FIG. 4 is a flowchart of an embodiment of a process 150 for generatingpartitions of a field and ordering the partitions. The process 150decreases the time to complete an operation in the field. Although thefollowing process 150 includes a number of operations that may beperformed, it should be noted that the process 150 may be performed in avariety of suitable orders (e.g., the order that the operations arediscussed, or any other possible order). All of the operations of theprocess 150 may not be performed. Further, all of the operations of theprocess 150 may be performed by the vehicle controller, the base stationcontroller, or a combination thereof.

A map of the field may be received, and partitions of the field may bedetermined (block 152) based on the map of the field. As discussedabove, there may be different types of partitions that include pathsthat follow an exterior boundary of the field, such as a cleanup lap ora headland lap (e.g., a cleanup or headland lap partition), or pathsthat follow the shape of an obstacle that does not intersect theexterior boundary (e.g., an obstacle partition). Further, if an obstacleintersects the exterior boundary of the field, the edge of the obstaclemay be considered to be a part of the exterior boundary. Moreover, someobstacles may be small enough (e.g., telephone poles) such that the workvehicle or implement may slightly adjust a swath path to travel aroundthe obstacle. In addition, obstacles may include roads, such ascompaction alleys (i.e., areas where crops are not grown to facilitatetravel of one or more work vehicles), that extend through at least aportion of the field. Further, another type of partition may includemultiple, substantially parallel rows (e.g., an interior partition).Further, these partitions may include only convex angles, such that afield with an ‘L’ shape would include two of these partitions becausethe interior of a field with an ‘L’ shape includes a concave interiorangle.

Further, when determining (block 152) partitions of the field, the typeof work vehicle may be taken into account. For example, some types ofvehicles may be able to traverse certain obstacles that other types ofvehicles may not. Accordingly, some obstacles may be ignored (i.e., theobstacle does not affect the partitions or swath paths within apartition) for some vehicles and taken into account for other vehicles.Further, if the edges of multiple obstacles intersect one another, themultiple obstacles may be treated as a single obstacle for purposes ofpartitioning the field.

In addition, when determining partitions, certain properties are takenin to account for each of the types of partitions. For example, theswath path for a cleanup or headland partition may depend, at least inpart, on the width of the work vehicle or implement. For example, theswath path that represents the cleanup or headland partition may betranslated half of the width of the work vehicle or implement toward thecenter of the field from the outer boundary. Such an offset may enablethe edge of the work vehicle or implement to be at the outer boundary.Thus, if a second cleanup or headland partition is utilized, the swathpath for the second cleanup or headland partition is translated one andone half times the width of the work vehicle or implement toward thecenter of the field from the outer boundary. Further, in someembodiments, the swath path may be adjusted to take into account theturning capabilities (e.g., turn radius, etc.) of the work vehicle orimplement. For example, a work vehicle or implement may not be capableof making a sharp turn, thus, a sharp edge may be replaced with a curve(e.g., a clothoid or arc).

Further, the swath paths for an obstacle partition may depend, at leastin part, on the width of the work vehicle or implement (e.g., the widthmay be the width of whichever is wider of the work vehicle orimplement). For example, the swath path that represents the obstaclepartition may be translated one half of the width of the work vehicle orimplement away from the obstacle. Such an offset enables the edge of thework vehicle or implement to clear the edge of the obstacle. Inaddition, if a second obstacle partition is utilized, the swath path forthe second obstacle partition is translated one and one half times thewidth of the work vehicle or implement away from the obstacle. Further,in some embodiments, the swath path may be adjusted to take into accountthe turning capabilities of the work vehicle or implement. For example,a work vehicle or implement may not be capable of making a sharp turn,thus, a sharp edge may be replaced with a curve (e.g., a clothoid orarc).

Next, the angle of the swath paths for each interior partition isdetermined (block 154). Because each of the swath paths is substantiallyparallel within a particular partition, an angle for the swath paths ischosen for each interior partition. The angle may be relative to anyline, such as one of the cardinal directions (i.e., north, east, south,and west), a line of the exterior boundary, or any other suitable line.Further, the angle may be input by an operator or the angle may bedetermined by the controller. For example, if the controller determinesthe angle, the controller may rotate the swath paths at an incrementalchange in radians from zero to pi radians. For each angle, thecontroller determines the lengths of the shortest swath path and thelongest swath paths, and determines the difference between the shortestswath path and the longest swath path. After determining the value foreach angle, the controller determines the angle associated with the bestvalue. For example, the angle associated with the smallest differencebetween the shortest swath path and the longest swath path may bechosen. In some embodiments, the controller may determine other types ofvalues such as the number of swath paths, the number of turns, anexpected time to completion, or any other suitable value for each angle.In these embodiments, the angle associated with these other values maybe chosen, such as the angle associated with the lowest number of swathpaths, the lowest number of turns, or the lowest expected time tocompletion.

Next, an offset of the swath paths is determined (block 156). The offsetof the swath paths is based, at least in part, on the width of the workvehicle or implement. For example, the swath path may represent the paththat the center of the work vehicle or implement traverses. Thus, theswath paths may be offset, or separated from one another, by a distanceequal to about one half the width of the work vehicle or implement. Insome embodiments, the distance between the swath paths may be less thanone half the width of the work vehicle or implement, such that there isat least some overlap between the swaths. For example, during aharvesting operation, including some overlap may increase the amount ofcrop that is harvested, or if an integer number of swaths does not coverthe entire partition, overlapping swaths may enable the number of swathsto be an integer number. Further, in some embodiments, the swath pathsmay not represent the path that the center of the work vehicle orimplement traverses. Instead, the swath paths may represent the paththat some other portion of the vehicle traverses, such as a right edge,a left edge, or any point in between.

In some embodiments, multiple work vehicles may travel through the fieldduring a single operation. If the multiple work vehicles are the samewidth, then the multiple work vehicles may each travel along any of thedetermined partitions. In some embodiments, the multiple work vehiclesmay have different widths from one another. In such embodiments, eachwork vehicle may only travel through partitions with swath path offsetsthat have been determined for the width of the respective work vehicle.

Then, the order of the partitions is determined (block 158). The orderof the partitions depends, at least in part, on the type of operationbeing performed. For example, during a harvesting operation, theheadland laps may be performed before other types of partitions becausethe other types of partitions are completely encircled by the headlandlaps. Conversely, during a tilling operation, the headland or cleanuplaps may be performed last so that the work vehicle does not drive overalready tilled portions of the field. The order of the partitions may bedependent on the type of operation, and a list (e.g., a hierarchy) ofthe partitions may be determined, such that the list may be performedfrom first to last or from last to first. Lists that include a hierarchymay include multiple levels and each level may include one or morepartitions. Levels that include multiple partitions may be listedseparately from the rest of the list. Further, some levels may include asub-hierarchy, such that one partition is inserted into the middle ofanother partition, thus a list would include a portion of a firstpartition, then a second partition, followed by another portion of thefirst partition.

In one embodiment, the partitions are listed based on each of thepartitions bounding characteristics (e.g., which partitions are bound bya particular partition and which partitions bound the particularpartition), which may enable an operation to be completed starting fromthe outside of the field and working toward the inside of the field, orstarting from the inside of the field and working toward the outside ofthe field. For example, the headland or cleanup lap closest to theexterior boundary may encircle all of the other partitions. Thus, theoutermost lap bounds all of the other partitions in the field. Further,separate interior partitions may be bound by the same headland orcleanup lap partition, but the interior partitions do not bound oneanother. Thus, the separate interior partitions are at the same level ofbounding. Therefore, the order of the separate interior partitions maydepend, at least in part, on other factors, such as proximity ofendpoints of partitions, potential overlapping of swaths betweenseparate partitions (e.g., the likelihood that operating in onepartition will cause the work vehicle to travel in portions of anotherpartition), or any other factor.

Further, the partitions that are laps around obstacles (e.g., obstaclepartitions) are considered bounded based on the intersection of theedges of the obstacle with other partitions. For example, an obstaclewith edges that intersect only the swath paths of one interior partitionis considered bounded by that interior partition. However, if the edgesof an obstacle intersect multiple partitions, the intersections areexamined. First, the first and last intersections on both sides of theobstacle are determined. The first and last intersections are located onthe swath paths that intersect the obstacle, but are adjacent to a swathpath that does not intersect the obstacle. In some embodiments, theremay be multiple first intersections and multiple last intersections.After the first and last intersections are determined, the obstaclepartition may be considered bounded by the partition that includes thefirst intersection or the partition that includes the last intersection.For example, the partition that includes the first intersection may be acleanup or headland lap partition, and the partition that includes thelast intersection may be an interior partition. Thus, the obstaclepartition may be considered bounded be either the cleanup or headlandlap partition or the interior partition.

In some embodiments, the obstacle partition and the partition thatbounds the obstacle partition may form a sub-hierarchy level, such thatthe obstacle partition is completed during the completion of thebounding partition. For example, if the obstacle partition is bound byan interior partition, during operation, the work vehicle may traverse aportion of the interior partition, then the obstacle partition, thenanother portion of the interior partition.

Thus, an example list of partitions may include a cleanup lap partitionthat bounds an interior partition that bounds an obstacle partition.Accordingly, the order of the partitions may include the cleanup lappartition first, the interior partition second, and the obstaclepartition third, or in the reverse order. Further, in some embodiments,the order may include the cleanup lap partition first, a first portionof the interior partition second, the obstacle partition third, and asecond portion of the interior partition fourth, or in the reverseorder.

Next a path connecting the partitions is determined (block 160). Theendpoints of consecutive partitions (e.g., partitions that are orderedconsecutively) may not connect to one another. Thus, a connecting pathto link the endpoints of consecutive partitions may be determined toenable the vehicle to travel from the end point of on partition to thestarting point of another partition. The path may be a curved path(e.g., a clothoid or arc) and/or may include one or more line segmentsthat connects the endpoints.

FIG. 5A is a top view of an embodiment of a field 180 having multiplepartitions. The field 180 is ‘L’ shaped, and includes an outer boundary182 and an obstacle 184. Further, the partitions of the field 180 aresplit into a first headland partition 186, a second headland partition188, a first interior partition 190, a second interior partition 192,and an obstacle headland partition 194.

As illustrated, the obstacle headland partition 194 intersects only theswath paths of the first interior partition 190. Thus, the obstacleheadland partition 194 forms an inner bound rather than an outer boundon the first interior partition 190. In the present embodiment, a firstintersecting swath path 196 is the first swath path of the firstinterior partition 190 to intersect the obstacle headland partition 194,and a last intersecting swath path 198 is the last swath path of thefirst interior partition 190 to intersect the obstacle headlandpartition 194. Thus, the obstacle headland partition 194 may becompleted when the work vehicle is travelling along the firstintersecting swath path 196 or when the work vehicle is travelling alongthe last intersecting swath path 198.

FIG. 5B is a schematic diagram of an embodiment of a partition list 210of the partitions illustrated in FIG. 5A. The partition list 210 servesas a visual of a hierarchy of the partitions. Further, the partitionlist 210 may be displayed to an operator via an operator interface. Thepartition list 210 is organized such that the top of the list, the firstheadland partition 186, bounds all of the other partitions, and thebottom of the list, the obstacle headland partition 194, bounds none ofthe other partitions. Thus, the first headland partition 186 is at afirst level 212 and bounds all of the partitions at lower levels. Next,the second headland partition 188 is at a second level 214 because it isbound by the first headland partition 186. The first interior partition190 and the second interior partition 192 are both at a third level 216because they are bound by both the first headland partition 186 and thesecond headland partition 188. Then, the obstacle headland partition 194is at a parallel level 218 because it forms an inner bound around thefirst interior partition 190. Further, an arrow 220 connects the firstinterior partition 190 to the obstacle headland partition 194 toindicate the inner bound relationship.

As described above, the element list 210 may be used to determine theorder of the partitions. Further, the obstacle headland partition 194may be completed in the middle of the partition that directly bounds it.Accordingly, the obstacle headland partition 194 may be completed aftera first portion of the first interior partition 190 has been completed,but before a second portion of the first interior partition 190 has beencompleted. Moreover, as discussed above, the order of partitions at thesame level may depend on other factors (e.g., connecting paths betweenpartitions, etc.). Thus, the first interior partition 190 and the secondinterior partition 192 may be ordered in any suitable manner, forinstance, the first interior partition 190 may be ordered before thesecond interior partition 192, or the second interior partition 192 maybe ordered before the first interior partition 190.

Further, the order of the partitions may be dependent on the type ofoperation being performed. For example, a harvesting operation may orderthe partitions from the top-down such that the first headland partition186 is completed first, and one of the first interior portion 190 or thesecond interior portion 192 is completed last. Other operations, such asa tilling operation, may order the partitions from the bottom-up, suchthat the first interior portion 190 or the second interior portion 192is completed first, and the first headland partition 186 is completedlast. Further, as discussed above, the obstacle headland partition 194may be completed during completion of the first interior partition 190.Once the partitions are determined and ordered, a controller (e.g., thevehicle controller or the base station controller) instructs a speedcontrol system and a steering control system to move the work vehiclealong the swath paths.

While only certain features of the disclosure have been illustrated anddescribed herein, many modifications and changes will occur to thoseskilled in the art. It is, therefore, to be understood that the appendedclaims are intended to cover all such modifications and changes as fallwithin the true spirit of the disclosure.

1. A control system of an agricultural work vehicle system comprising: acontroller comprising a memory and a processor, wherein the controlleris configured to: determine a plurality of partitions based, at least inpart, on a map of an agricultural field; determine a partition list ofthe plurality of partitions based, at least in part, on a set ofbounding characteristics of each of the plurality of partitions;determine an order of the plurality of partitions based on the partitionlist of the plurality of partitions; and output a signal indicative of atravel path for the agricultural work vehicle.
 2. The control system ofclaim 1, wherein the controller is configured to determine one or moreswath paths for each of the plurality of partitions.
 3. The controlsystem of claim 2, wherein the controller is configured to determine theone or more swath paths by: determining a set of angled swath paths fora plurality of incremental angles for the one or more swath paths;determining a length of each swath path of the set of angled swath pathsfor each of the plurality of incremental angles; determining a lowestdifference between a shortest swath path and a longest swath path foreach set of swath paths for each incremental angle; and selecting theset of swath paths having the lowest difference between the shortestswath path and the longest swath path.
 4. The control system of claim 2,wherein the controller is configured to determine the one or more swathpaths by: determining a set of angled swath paths for a plurality ofincremental angles for the one or more swath paths; determining a numberof angled swath paths of the set of angled swath paths for each of theplurality of incremental angles; and selecting the set of swath pathshaving the lowest number of angled swath paths.
 5. The control system ofclaim 1, wherein the partition list comprises at least one level withtwo or more partitions of the plurality of partitions arranged in asub-hierarchy.
 6. The control system of claim 1, wherein the controlleris configured to determine a connection path to connect a consecutivepartitions of the plurality of partitions.
 7. The control system ofclaim 6, wherein the connection path is a clothoid or spline.
 8. Thecontrol system of claim 1, wherein the controller is configured tooutput instructions for a plurality of work vehicles, and wherein thecontroller is configured to determine an order of the plurality ofpartitions for each of the plurality of work vehicles.
 9. The controlsystem of claim 8, wherein each of the plurality of work vehicles has adifferent width, and wherein the controller is configured to assign eachof the plurality of partitions to a respective work vehicle of theplurality of work vehicles based, at least in part, on the differentwidths of the each of the plurality of work vehicles.
 10. A method forcreating a travel path through an agricultural field for a work vehiclecomprising: determining, via a controller, a plurality of partitionsbased, at least in part, on a map of an agricultural field; determining,via the controller, a partition list of the plurality of partitionsbased, at least in part, on a set of bounding characteristics of each ofthe plurality of partitions; determining, via the controller, an orderof the plurality of partitions based on the partition list of theplurality of partitions; and outputting, via the controller, a signalindicative of a travel path for the agricultural work vehicle.
 11. Themethod of claim 10, comprising determining, via the controller, one ormore swath paths for each of the plurality of partitions.
 12. The methodof claim 11, comprising determining, via the controller, the one or moreswath paths by: determining, via the controller, a set of angled swathpaths for a plurality of incremental angles for the one or more swathpaths; determining, via the controller, a number of angled swath pathsof the set of angled swath paths for each of the plurality ofincremental angles; and selecting, via the controller, the set of swathpaths having the lowest number of angled swath paths.
 13. The method ofclaim 11, comprising determining, via the controller, an offset for eachof the one or more swath paths.
 14. The method of claim 10, comprisingdetermining, via the controller, an obstacle in the agricultural fieldbased on a type of the work vehicle.
 15. The method of claim 10,comprising determining, via the controller, a connection path to connecta consecutive partitions of the plurality of partitions.
 16. One or moretangible, non-transitory, machine-readable media comprising instructionsconfigured to cause a processor to: determine a plurality of partitionsbased, at least in part, on a map of an agricultural field; determine apartition list of the plurality of partitions based, at least in part,on a set of bounding characteristics of each of the plurality ofpartitions; determine an order of the plurality of partitions based onthe partition list of the plurality of partitions; and output a signalindicative of a travel path for the agricultural work vehicle.
 17. Theone or more tangible, non-transitory, machine-readable media comprisinginstructions of claim 16, wherein the instructions are configured tocause the processor to determine one or more swath paths for each of theplurality of partitions.
 18. The one or more tangible, non-transitory,machine-readable media comprising instructions of claim 17, wherein theinstructions are configured to cause the processor to determine the oneor more swath paths by: determining a set of angled swath paths for aplurality of incremental angles for the one or more swath paths;determining a length of each swath path of the set of angled swath pathsfor each of the plurality of incremental angles; determining a lowestdifference between a shortest swath path and a longest swath path foreach set of swath paths for each incremental angle; and selecting theset of swath paths having the lowest difference between the shortestswath path and the longest swath path.
 19. The one or more tangible,non-transitory, machine-readable media comprising instructions of claim17, wherein the instructions are configured to cause the processor todetermine an offset for each of the one or more swath paths.
 20. The oneor more tangible, non-transitory, machine-readable media comprisinginstructions of claim 16, wherein the instructions are configured tocause the processor to determine an obstacle in the agricultural fieldbased on a type of the work vehicle.